From e356fae531c548e3a18dfd3c7f0677b5d1272d7a Mon Sep 17 00:00:00 2001 From: Fabien Spindler Date: Wed, 18 Sep 2024 17:10:52 +0200 Subject: [PATCH] Adapt Z distance to reach --- example/servo-afma6/servoAfma6AprilTagIBVS.cpp | 2 +- example/servo-afma6/servoAfma6AprilTagPBVS.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/example/servo-afma6/servoAfma6AprilTagIBVS.cpp b/example/servo-afma6/servoAfma6AprilTagIBVS.cpp index 947bd48fe0..196730dd9d 100644 --- a/example/servo-afma6/servoAfma6AprilTagIBVS.cpp +++ b/example/servo-afma6/servoAfma6AprilTagIBVS.cpp @@ -235,7 +235,7 @@ int main(int argc, char **argv) vpHomogeneousMatrix cd_M_c, c_M_o, o_M_o; // Desired pose used to compute the desired features - vpHomogeneousMatrix cd_M_o(vpTranslationVector(0, 0, opt_tagSize * 3), // 3 times tag with along camera z axis + vpHomogeneousMatrix cd_M_o(vpTranslationVector(0, 0, opt_tagSize * 3.5), // 3.5 times tag with along camera z axis vpThetaUVector(vpMath::rad(10), vpMath::rad(3), vpMath::rad(5))); if (!detector.isZAlignedWithCameraAxis()) { vpHomogeneousMatrix oprim_M_o = { 1, 0, 0, 0, diff --git a/example/servo-afma6/servoAfma6AprilTagPBVS.cpp b/example/servo-afma6/servoAfma6AprilTagPBVS.cpp index b113697773..04705ffb63 100644 --- a/example/servo-afma6/servoAfma6AprilTagPBVS.cpp +++ b/example/servo-afma6/servoAfma6AprilTagPBVS.cpp @@ -234,7 +234,7 @@ int main(int argc, char **argv) vpHomogeneousMatrix cd_M_c, c_M_o, o_M_o; // Desired pose to reach - vpHomogeneousMatrix cd_M_o(vpTranslationVector(0, 0, opt_tagSize * 3), // 3 times tag with along camera z axis + vpHomogeneousMatrix cd_M_o(vpTranslationVector(0, 0, opt_tagSize * 3.5), // 3.5 times tag with along camera z axis vpThetaUVector(vpMath::rad(10), vpMath::rad(3), vpMath::rad(5))); if (!detector.isZAlignedWithCameraAxis()) { vpHomogeneousMatrix oprim_M_o = { 1, 0, 0, 0,